Differential-Difference Equations. By Richard Bellman and Kenneth L. Cooke. Pp. xvi, 465. 1963. (Academic Press)

A scheme is developed for classifying the types of motion perceived by a humanlike robot. It is assumed that the robot receives visual images of the scene using a perspective system model. Equations, theorems, concepts, clues, etc., relating the objects, their positions, and their motion to their images on the focal plane are presented. >

http://ieeexplore.ieee.org/iel2/815/3148/00100651.pdf

Robot vision

[서평]「The Unified Modeling Language User Guide」

Summary) The abstract should follow the structure of the article (relevance, degree of exploration of the problem, the goal, the main results, conclusion) and characterize the theoretical and practical significance of the study results. The abstract should not contain wording echoing the title, cumbersome grammatical structures and abbreviations. The text should be written in scientific style. The volume of abstracts (summaries) depends on the content of the article, but should not be less than 250 words. All abbreviations must be disclosed in the summary (in spite of the fact that they will be disclosed in the main text of the article), references to the numbers of publications from reference list should not be made. The sentences of the abstract should constitute an integral text, which can be made by use of the words “consequently”, “for example”, “as a result”. Avoid the use of unnecessary introductory phrases (eg, “the author of the article considers...”, “The article presents...” and so on.)

/pdf/ministry-of-education-and-science-of-the-russian-federation-7m2jn0xnm1.pdf

Ministry of Education and Science of the Russian Federation

Dynamic analysis of flexible manipulators, a literature review

Since 1994, when the Mercury Project gave birth to the first Internet robot [1], Internet based telerobotics has been studied by a large number of researchers around the world [2−8], attracted by the ubiquity and ever increasing opportunities offered by the Internet. Telerobotics has been studied and experienced for years, mainly for space, subsea, and nuclear applications [9, 10].

Web-Based Industrial Robot Teleoperation: An Application

Computer vision algorithms for object localization and tracking are largely used in industry and academic research. Nonetheless, the performance evaluation of these algorithms is still an open problem, because the common systems used as ground truth are expensive and often not available in industry or research labs. In this paper we propose a method to evaluate the performance of a visual odometry algorithm using an industrial robot. The parameters required for the comparison are estimated by reducing the problem to a Quadratically Constrained Quadratic Program. The method is applied to an experimental set up composed of a six degrees of freedom industrial robot and a commercial monocular camera.

Performance evaluation of visual odometry using an industrial robot as ground truth

Autonomous Loading of a Washing Machine with a Single-arm Robot

Stiffness constants identification methods for industrial robot joints

In this work, we address two crucial issues that arise in the design of a human-robot collaborative station for the assembly of products: the optimal task allocation and the scheduling problem. We propose an offline method to solve in series the two mentioned issues, considering a static allocation and taking into account several features such as the minimization of postural discomfort, operation processing times, idle times and hence the total cycle time. Our methodology consists of a mixed approach that combines a capability-based method, where the agents' capabilities are tested against a list of predefined criteria, with optimization. In particular, we formulate a modified version of the Hungarian Algorithm to solve also unbalanced assignment problems, where the number of tasks is different from the number of agents. The scheduling policy is obtained by means of a Mixed Integer Linear Programming (MILP) formulation, with a multi-objective optimization. Moreover, the concepts of operation, assembly tree and precedence graph are formalized, since they represent the inputs to our method, together with the information on the workstation layout and on the selected kind of robot. Finally, the proposed solution is applied to a case study to define the optimal task allocation and scheduling for two different workstation layouts: the results are compared and the best layout is accordingly selected.

Paolo Rocco

Papers

Web-Based Industrial Robot Teleoperation: An Application

Performance evaluation of visual odometry using an industrial robot as ground truth

Autonomous Loading of a Washing Machine with a Single-arm Robot

Stiffness constants identification methods for industrial robot joints

A mixed capability-based and optimization methodology for human-robot task allocation and scheduling